The Caltech Robotics Team designs and builds vehicles for various intercollegiate competitions. We are currently participating in the 18th International AUVSI/ONR Underwater Vehicle Competition in San Diego, California, from July 20 through July 26, 2015. This competition challenges us to create an entirely autonomous underwater vehicle that performs realistic missions in an underwater environment including obstacle navigation, identifying and shooting at targets, and manipulating objects with perfect dexterity. See the following links to our 2015 journal paper and team video.
Last summer, we participated in the 2014 AUVSI RoboSub competition. Our entry, "Bruce", charged through gates and detected buoys to a powerful performance in the competition. At the end of the competition we earned 7th place and were presented with the $500 prize for Best New Entry.
Before this, the team competed in the RASC-AL Exploration Robo-Ops Competition at NASA’s Johnson Space Center in June 2012, placing second overall. We built a four-wheeled remotely controlled rover, challenged with the task of identifying and collecting rocks while traveling over variable rough terrain. We worked across many scientific disciplines to build a rover that had to be operated via a 4G wireless broadband communications system by a team member at Caltech.
The 2014 Caltech Robotics Team is made up of over 30 undergraduates spanning all of the departments at Caltech. We are divided into four teams: Mechanical, Electrical, Programming, and Fundraising & Outreach. Our faculty advisor is Professor Joel Burdick, the Richard L. and Dorothy M. Hayman Professor of Mechanical Engineering and Bioengineering at Caltech.
This team designs and manufactures the chassis of the submarine using the principles of hydrostatic stability and hydrodynamics. One of their main responsibilities is to design a sealing system to make sure that the inside of the hull stays dry under twenty feet of water. First, the submarine will be designed using CAD software and then machined using both CNC and hand-operated machining. They also select the propulsion system. Finally, they design the pneumatic system to operate a grabber and torpedo firing system.
Team Lead: Edward Fouad, efouad (at) caltech DOT edu
This team powers and wires the submarine and provides computing hardware to the programming team. In addition, they design and implement the sonar pinger heading system. The team will implement a serial bus so that each PCB on the sub (eg the sensor input board, the motor/actuator board, etc.) can communicate with each other and the computer easily.
Team Lead: Torkom Pailevanian, torkom (at) caltech DOT edu
This team makes the submarine intelligent and controllable. They program both the low-level microcontroller code and the high-level AI and computer vision code. Their main responsibility is to take the platform provided by the electrical and mechanical teams and mold it to complete the specific tasks required by the competition. For tools, they use C++ on ArchLinux and OpenCV for computer vision.
Team Lead: Kushal Agarwal, kushal (at) caltech DOT edu
This team raises the funds necessary for the project to complete its objectives. Most of the team's funds come from corporate sponsorships either in monetary or in-kind donations. We forge partnerships between corporations who want to support students to gain real-world engineering experience and motivated students looking to move their engineering knowledge beyond the textbook. In addition, this team works with K-12 students, especially students under-represented in STEM fields, to encourage them to pursue STEM education, especially in robotics.
Team Lead: Jake Larson, jlarson (at) caltech DOT edu